A
Automation and Robotics
ROBOT SYSTEM
SERIES 5150
System shown with optional equipment
GENERAL DESCRIPTION
The Lab-Volt Robot System, Model 5150, provides
complete and affordable training in the programming and
operation of industrial robots. Through the curriculum and
hands-on experience with the Robot System, students
learn to create automated work cells.
The precision-built, articulated arm of the Robot
represents an important step in automation and handling.
A stepper motor, located in the base of the unit, provides
horizontal rotation while five additional stepper motors,
located in the shoulder, provide precision movements of
the articulations and end effector. The Robot has five
axes of rotation plus a gripper and is able to use all joints
simultaneously to perform a programmed move sequence. Each articulation can be controlled and moved
independently. Movements of the joints are accomplished
by belts through a series of gears, while the gripper
mechanism is activated by cables and belt-driven pulleys.
The base of the unit includes one connector for an
external stepper motor which can be used for further
experimentation, such as operating the Rotary Carousel.
The Robot is equipped with four TTL (TransistorTransistor Logic) inputs for the monitoring of input devices
such as microswitches and four TTL outputs to
communicate with other robot units or control external
accessories such as a belt conveyor. Additionally, there
are four 12 V dc device outputs, one is located in the
shoulder and the others in the base unit. The
shoulder-mounted output can be used to control end
tooling such as the Magnetic Gripper. The I/O capabilities
of the Robot allow interaction with external hardware via
(732) 938-2000 / 800-LAB-VOLT, FAX: (732) 774-8573, E-MAIL: us@labvolt.com
(418) 849-1000 / 800-LAB-VOLT, FAX: (418) 849-1666, E-MAIL: ca@labvolt.com
INTERNET: http://www.labvolt.com
ROBOT SYSTEM
SERIES 5150
sensors. The Robot is also equipped with a USB port that
can be used to connect the Robot System to a computer.
The Robot System comes with the RoboCIM 5150
Software which allows students to control or simulate the
motion of the Robot. The software provides a three-dimensional, virtual environment and an easy-to-use
interface allowing students to easily learn the
fundamentals of robotics. Two programming modes are
available: an intuitive icon programming mode and a text
programming mode to create more complex tasks.
Location pin on a Gravity Feeder
RoboCIM 5150 Software
The Robot and external devices offered as options
with the Robot System are equipped with location pins
(or push-lock fasteners). These pins are designed to
insert into the perforations of the metallic work surfaces.
This easy-to-use mechanism ensures the accurate
positioning of the equipment when repeating programs.
The Robot System is available in two models (Models
5150-1 and 5150-2). The Robot System, Model 5150-1,
can be controlled and programmed from a host computer
running the RoboCIM 5150 Software. The Robot System
(with Teach Pendant), Model 5150-2, comes with all the
equipment of the Model 5150-1 plus a Teach Pendant
which can be used to control and program the Robot.
Programs created with the Teach Pendant can be
uploaded from (or downloaded to) a computer using a
USB connection. Both models come with student and
instructor manuals, user guides, all leads and cables
required to operate the system, and a solid-metal
perforated Work Surface that can be put atop a regular
work table or installed on one of the optional benches.
INDEX
General Description . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table of Contents of the Student Manual . . . . . . . . 3
List of Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Optional Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Optional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . 5
Module Description . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Ordering Numbers . . . . . . . . . . . . . . . . . . . . . . . . . 18
Robot Calibration Tools
2
Many optional devices can be added to the system
to perform more complex tasks. The optional devices
include a Magnetic Gripper, a Rotary Carousel, Belt
Conveyors, Gravity Feeders, Pneumatic Feeders, and a
Signal Tower.
Features
Robot
C Stepper motors
C Steel and aluminum construction
C Gears and timing belts transmission
C Easily adjustable belt tension pulleys to maintain
positional accuracy
C Oilite bushings for durability, minimum maintenance,
and lubrication
C On-board microprocessor
C 4 TTL input ports
C 4 TTL output ports
C 4 12-V dc device outputs
C USB communication port
C Teach Pendant communication port
RoboCIM 5150 Software
C Easy-to-use, menu-driven software
C Simulation and control modes
C Three-dimensional (3D) virtual environment
C Seven predefined layout/camera view settings
C Programming without actual equipment
C Point recorder panel to easily record, rename, view
coordinates, hide, and delete points
C Create and run simple task programs using icons and
graphical tools (no keyboard input required)
C Create and run simple and complex task programs by
entering all necessary commands using the keyboard
C Powerful set of task commands such as: Delay,
Do-Until, If-Else, Gosub, Home, Input, Output,
While-Repeat, and many others
TABLE OF CONTENTS OF THE STUDENT MANUAL
Introduction to Robotics (39411-00)1
C Introduction and Familiarization
C Programming
C Program Editing
C Industrial Application 1
C Industrial Application 2
C Industrial Application 3 (Using a Rotary Carousel)
C Industrial Application 4 (Using a Gravity or Pneumatic
Feeder)
C Industrial Application 5 (Using a Belt Conveyor)
C Industrial Application 6 (Using a Feeder and a Belt
Conveyor)
1
Industrial Applications 3 through 6 require the use of the following optional equipment (to be bought separately): a Rotary Carousel (model 5113), a Gravity Feeder (model 5119 or 5121) or
Pneumatic Feeder (model 5122 or 5142), and a Belt Conveyor (model 5118).
3
ROBOT SYSTEM
SERIES 5150
LISTS OF EQUIPMENT
ROBOT SYSTEM, MODEL 5150-1
QTY
1
1
1
1
1
1
1
DESCRIPTION
2
ORDERING NUMBER
Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5105-00
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5150-A03
Introduction to Robotics (Student Manual) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39411-00
Introduction to Robotics (Instructor Guide) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39411-10
Robot System Model 5150 (User Guide) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39411-E0
RoboCIM 5150 Software (User Guide) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39376-E0
Work Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46604-00
ROBOT SYSTEM (WITH TEACH PENDANT), MODEL 5150-2
QTY
1
1
1
1
1
1
1
1
DESCRIPTION
ORDERING NUMBER
Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5105-00
Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5106-00
Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5150-A03
Introduction to Robotics (Student Manual) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39411-00
Introduction to Robotics (Instructor Guide) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39411-10
Robot System Model 5150 (User Guide) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39411-E0
RoboCIM 5150 Software (User Guide) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39376-E0
Work Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46604-00
OPTIONAL KITS
PNEUMATIC FEEDER KIT (SQUARE PARTS), MODEL 5122-A
QTY
1
1
DESCRIPTION
ORDERING NUMBER
Pneumatic Feeder (Square Parts) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5122-10
Pneumatic Feeder Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5149-00
PNEUMATIC FEEDER KIT (CYLINDRICAL PARTS), MODEL 5142-A
QTY
1
1
DESCRIPTION
ORDERING NUMBER
Pneumatic Feeder (Cylindrical Parts) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5142-10
Pneumatic Feeder Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5149-00
SIGNAL TOWER KIT (WITH CONTROL RELAY), MODEL 5924-B
QTY
1
1
1
1
DESCRIPTION
2
The ordering numbers shown apply to the English 120-V version. Other versions are available. Refer to the Ordering Numbers section.
3
Includes the RoboCIM 5150 Software, Robot calibration tools, and all the leads and cables required to operate the system.
4
ORDERING NUMBER
Control Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Leads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Tower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5125-00
5259-C0
5924-00
6360-00
OPTIONAL EQUIPMENT
DESCRIPTION
ORDERING NUMBER
Microswitch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5102-10
Magnetic Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5111-00
Rotary Carousel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5113-10
Belt Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5118-00
Gravity Feeder (Square Parts) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5119-00
Gravity Feeder (Cylindrical Parts) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5121-00
Storage Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5167-00
RoboCIM 5150 Software (additional license) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5173-00
Robotics System Software Development Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5174-00
Belt Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5210-00
Storage/Work Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6309-00
Air Compressor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6410-C0
Location Tray . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38685-00
Spacer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39035-00
Acoustic Alarm4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39303-00
Bench5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46601-10
Bench5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46601-20
Bench5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46601-30
Square Part (Plexiglass) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96474-00
Square Part (Wax) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96942-00
4
The Acoustic Alarm must be installed on a fully functional Signal Tower.
5
The Work Surfaces are not included with the Bench.
5
ROBOT SYSTEM
SERIES 5150
MODULE DESCRIPTION
Model 5102-1 – Microswitch
The Microswitch is an SPDT switch with a wireform
actuator. The Microswitch can be used alone or can be
installed on a belt conveyor.
Model 5105 – Power Supply
Model 5106 – Teach Pendant
The Teach Pendant is a hand-held terminal that can be
used to control the Robot instead of using a computer.
It has a four-line, 20-character LCD display for feedback
to the operator. The programs created with the Teach
Pendant can be uploaded from (or downloaded to) a
computer through a USB connection using the included
5100/5150 File Server Application.
Model 5111 – Magnetic Gripper
The Power Supply converts the ac line voltage into
a 13.8-V dc voltage that is used to power the Robot,
Model 5150-A. The Power Supply has current limiting and
overvoltage protection.
The Magnetic Gripper can be fixed to the wrist of the
Robot in place of the two-finger gripper. The
electromagnet is powered via the external device output
connector mounted on the shoulder of the Robot. The
Magnetic Gripper comes with a connection cable and an
installation guide.
6
Model 5113-1 – Rotary Carousel
Model 5118 – Belt Conveyor
The Rotary Carousel is used to demonstrate how parts
can be transferred to and from a robot in a repetitive,
rotational pattern. It has a 298-mm (11.7-in) diameter
platter driven by a stepper motor via the accessory output
connector on the base of the Robot. A built-in microswitch
can be used to detect the presence of parts on the platter.
The Belt Conveyor is used in material-handling
experiments. It has a self-contained power supply and
electronic interface. The control panel has inputs for
interfacing with the Robot System. The inputs enable the
conveyor to be remotely controlled. It can also be used
as a stand-alone unit. The Belt Conveyor comes with a
microswitch that can be mounted at different locations to
detect the presence of parts on the belt. The conveyor
belt has a length of 959 mm (37.8 in) and a width of 102
mm (4 in).
7
ROBOT SYSTEM
SERIES 5150
Model 5119 – Gravity Feeder (Square Parts)
The Gravity Feeder (Square Parts) is designed to feed
square parts measuring 51 x 51 mm (2 x 2 in) with a
thickness between 13 and 38 mm (0.5 and 1.5 in). It has
a microswitch and feedback cables for connection to the
Robot Controller.
8
Model 5121 – Gravity Feeder (Cylindrical Parts)
The Gravity Feeder (Cylindrical Parts) is designed to feed
cylindrical parts similar in form and dimensions to film
canisters. It has a microswitch and feedback cables for
connection to the Robot Controller.
Model 5122-1 – Pneumatic Feeder (Square Parts)
The Pneumatic Feeder (Square Parts) is designed to feed
square parts measuring 50 x 50 x 12.5 mm
(2 x 2 x 0.5 in). It consists of storage and feeder sections
and a pneumatic cylinder. Both sections have
microswitches to send feedback to the Pneumatic Feeder
Controller. When the Pneumatic Feeder Controller
detects that the feeder section is empty, it supplies
compressed air to the pneumatic cylinder to push a part
from the storage section into the feeder section. This
module requires a Pneumatic Feeder Controller.
The Pneumatic Feeder (Square Parts), Model
5122-A, includes the Pneumatic Feeder Controller.
Model 5125 – Control Relay
Model 5142-1 – Pneumatic Feeder (Cylindrical
Parts)
The Pneumatic Feeder (Cylindrical Parts) is designed to
feed cylindrical parts having a diameter of 19 mm (0.75
in) and a length of 63.5 mm (2.5 in). It consists of a
storage and feeder sections, and a pneumatic cylinder.
Both sections have microswitches to send feedback to
the Pneumatic Feeder Controller. When the Pneumatic
Feeder Controller detects that the feeder section is
empty, it supplies compressed air to the pneumatic
cylinder to push a part from the storage section into the
feeder section. This module requires a Pneumatic Feeder
Controller.
The Pneumatic Feeder (Cylindrical Parts), Model
5142-A, includes the Pneumatic Feeder Controller.
The Control Relay module is used to control external
devices. It consists of a relay (12-V dc solenoid and
DPDT contacts) and connecting cables.
9
ROBOT SYSTEM
SERIES 5150
Model 5149 – Pneumatic Feeder Controller
Model 5167 – Storage Case
The Pneumatic Feeder Controller is used to control the
Pneumatic Feeders, Models 5122 and 5142. It includes
a pneumatic valve, which supplies compressed air to the
Pneumatic Feeders. The operation of the Pneumatic
Feeder Controller is controlled by the microswitches in the
feeder and storage sections of the Pneumatic Feeders. This
module requires a compressed-air supply (available from a
local air supply or from the optional Air Compressor, Model
6410-C).
The Storage Case is a molded case designed to transport
and protect the Robot System. The Storage Case is impactresistant and its interior is padded with foam specially cut to
match the Robot shape.
Model 5150-A – Robot
The Robot has five axes of rotation plus a gripper. It is driven
by stepper motors that provide precision movements of the
articulations. All joints can be used simultaneously to perform
a programmed move sequence. Movements of the joints are
accomplished by belts through a series of gears, while the
gripper mechanism is activated by cables and belt-driven
pulleys. The Robot comes with a large base which allows
it to be placed on a regular work table.
10
Model 5173 – RoboCIM 5150 Software
The RoboCIM 5150 Software is used to simulate and control
the operation of the Robot System, Model 5150, and optional
external devices such as Gravity Feeders or Belt Conveyors.
One of the key features of the RoboCIM 5150 Software is
that it simulates the actual equipment with three-dimensional
representations. Sophisticated mathematical models
accurately simulate the mechanical and electrical
characteristics of the equipment. The RoboCIM 5150
Software allows users to interactively control and view the
motion of the system. Programs can be created with the
RoboCIM 5150 Software to control the equipment using
either the text programming mode or the icon programming
mode.
Model 5210 – Belt Conveyor
The Belt Conveyor is used in material-handling experiments.
It has a self-contained power supply and electronic interface.
The control panel has inputs for interfacing with the Robot
System. The inputs enable the conveyor to be remotely
controlled. It can also be used as a stand-alone unit. The Belt
Conveyor is provided with a microswitch that can be
mounted at different locations to detect the presence of parts
on the belt. The conveyor belt has a length of 1880 mm (74
in) and a width of 127 mm (5 in).
Model 5259-C – Connection Leads
Model 5174 – Robotics System Software
Development Kit
The Robotics System Software Development Kit is intended
for developers who are interested in developing their own
applications for the Robot System. It includes a CD-ROM
with all the files required to use the dynamic-link library (DLL)
as an abstraction layer between the end-user application and
the low-level communication protocol from and to the USB
Controller. The Robotics System Software Development Kit
comes with a User Guide giving the details of each function
of the library. However, since the Robotics System Software
Development Kit is intended for developers, no instructional
material is provided.
The Connection Leads consist of extra-flexible electrical
leads terminated with stacking banana plugs. They are
supplied in three different lengths.
11
ROBOT SYSTEM
SERIES 5150
Model 5924 – Signal Tower
Model 6360 – DC Power Supply
The DC Power Supply converts the ac line voltage into
a 24-V dc voltage that is used to power the Signal Tower,
Model 5924. It is protected against short-circuits by an
automatic current/limit foldback circuit.
The Signal Tower consists of three lights providing visual
signals of the Robot Controller states. Lights are stacked
one upon another, up to five modules. Each module is
easily programmable without any special wiring or tools.
An Acoustic Alarm, Model 39303, is available as an
option. A Control Relay, Model 5125, DC Power Supply,
Model 6360, and Connection Leads, Model 5259-C are
required to operate the Signal Tower. They are provided
in the Signal Tower Kit (with Control Relay), Model
5924-B.
Model 6309 – Storage/Work Surface
The Storage/Work Surface is a perforated metal plate,
38 x 584 x 584 mm (1.5 x 23 X 23 in), on which the
equipment is placed. Two work surfaces can be joined
using Spacers, Model 39035.
12
Model 6410-C – Air Compressor
The Air Compressor consists of motor, compressor, tank,
pressure regulator, and pressure gauge. The dischage
line of the Air Compressor is connected to an air
conductor hose ended by a quick-connect fitting that
plugs directly into the inlet port of the Pneumatic Feeder
Controller, Model 5149. This quiet air compressor is ideal
for class room and school laboratories usage.
Model 38685 – Location Tray
Model 39303 – Acoustic Alarm
The Location Tray is a solid-metal apparatus designed
to help position square parts manipulated with the Servo
Robot. When a part is dropped on the Location Tray, it
automatically aligns in the square-stamped center. The
Location Tray is equipped with push-lock fasteners
allowing it to be clamped to the work surface.
The Acoustic Alarm is a single module for the Signal
Tower, Model 5924, that produces an audible signal when
activated. The module stacks over the regular modules
of the Signal Tower and connects easily using the
bayonet fitting.
Models 46601-1, 46601-2, and 46601-3 – Benches
Model 39035 – Spacer
The Spacer is a small, solid-metal piece with four
push-lock fasteners that can be used to join two
perforated work surfaces.
The Benches, Models 46601-1, 46601-2, and 46601-3,
are solid metal benches that can accommodate one, two,
and three work surfaces respectively. The Work Surfaces
are not included with the Benches. Each bench is
mounted on four heavy-duty, swivelling, lockable castors.
Optional equipment is available for each bench. Refer to
the datasheet for Models 46601-10, 46601-20, and
46601-30 for more information.
13
ROBOT SYSTEM
SERIES 5150
Model 46604 – Work Surface
The Work Surface is a perforated metal surface,
883 x 584 x 32 mm (34.75 x 23 x 1.25 in), on which the
equipment is placed. The Work Surface can be put atop
a regular work table or installed on one of the optional
benches.
Model 96474 – Square Part (Plexiglass)
The Square Part (Plexiglass) is a 13 x 51 x 51 mm
(0.5 x 2 x 2 in) block of clear plexiglass used for various
manipulations with the Servo Robot.
14
Model 96942 – Square Part (Wax)
The Square Part (Wax) is a 13 x 51 x 51 mm (0.5 x 2 x
2 in) block of blue File-A-Wax used for various
manipulations with the Servo Robot.
SPECIFICATIONS
Model 5102-1 – Microswitch
Switch
Model 5105 – Power Supply
Power Requirement
Output
Protection
Physical Characteristics
Certification
Model 5106 – Teach Pendant
Physical Characteristics
Model 5111 – Magnetic Gripper
Physical Characteristics
Holding Force
Model 5113-1 – Rotary Carousel
Platter Diameter
Motor
Switch
Physical Characteristics
Type
Actuator
Contacts
Current
Dimensions (H x W x D)
Net Weight
Dimensions (H x W x D)
Net Weight
Magnet Diameter
Net Weight
Type
Actuator
Contacts
Dimensions (H x W x D)
Net Weight
Model 5118 – Belt Conveyor
Motor
Inputs
Number
Type
Switch (movable)
Type
Actuator
Contacts
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 5119 – Gravity Feeder (Square Parts)
Storage Capacity
Part Characteristics
Dimensions
Switch
Type
Actuator
Contacts
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 5121 – Gravity Feeder (Cylindrical Parts)
Storage Capacity
Part Characteristics
Dimensions (Length x Diameter)
Switch
Type
Actuator
Contacts
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 5122-1 – Pneumatic Feeder (Square Parts)
Storage Capacity
Part Characteristics
Dimensions (H x W x D)
Switch
Type
Actuator
Contacts
Momentary
Wireform
SPDT, 12 V – 0.06 A – DC
120 V – 60 Hz
220 V – 50 Hz
3A
13.8 V – 10 A – DC
Current limiting/overvoltage
57 x 152 x 248 mm (2.3 x 6.0 x 9.8 in)
1.2 kg (2.7 lb)
CE Compliant
240 V – 50 Hz
2A
35 x 103 x 194 mm (1.4 x 4.1 x 7.6 in)
0.4 kg (0.8 lb)
19 mm (0.75 in)
0.3 kg (0.7 lb)
2.7 kg (6 lb)
298 mm (11.7 in)
DC stepper motor
Momentary
Wireform
SPDT, 12 V – 0.06 A – DC
114 x 350 x 298 mm (4.5 x 13.8 x 11.7 in)
3.2 kg (7.1 lb)
DC stepper motor
3 (to control motor operation, engage/disengage motors, direction)
TTL input
Momentary
Wireform
SPDT, 12 V – 0.06 A – DC
165 x 965 x 260 mm (6.5 x 38 x 10.3 in)
8.4 kg (18.6 lb)
6 parts
51 x 51 mm (2 x 2 in), thickness between 13 and 38 mm (0.5 and
1.5 in)
Momentary
Wireform
SPDT, 12 V – 0.06 A – DC
279 x 203 x 241 mm (11 x 8 x 9.5 in)
2.1 kg (4.7 lb)
8 parts
51 x 35 mm (2 x 1.375 in)
Momentary
Wireform
SPDT, 12 V – 0.06 A – DC
279 x 203 x 241 mm (11 x 8 x 9.5 in)
2.1 kg (4.7 lb)
10 parts
51 x 51 x 13 mm (2 x 2 x 0.5 in)
Momentary
Standard type integral hinged lever
SPDT, 12 V – 0.06 A – DC
15
ROBOT SYSTEM
SERIES 5150
Model 5122-1 – Pneumatic Feeder (Square Parts) (cont'd)
Pneumatic Cylinder
Type
Stroke
Bore size
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 5125 – Control Relay
Contacts
Physical Characteristics
Dimensions (H x W x D)
Model 5142-1 – Pneumatic Feeder (Cylindrical Parts)
Storage Capacity
Part Characteristics
Dimensions (Length x Diameter)
Switch
Type
Actuator
Contacts
Pneumatic Cylinder
Type
Stroke
Bore size
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 5149 – Pneumatic Feeder Controller
Recommended Compressed Air Supply
Number of Compressed Air Outputs
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 5150-A – Robot
Load Capacity
Number of Axes of Rotational Freedom
Reach
Repeatability
Maximum Speed
Actuators
Type
Number of steps per revolution
Transmission
Working Envelope
Base
Shoulder Joint
Elbow Joint
Pitch Joint
Roll Joint
Power Input
Voltage
Device Outputs
Number
Voltage
Maximum Current
TTL Outputs
Number
Level
Maximum Current
End Effector
Physical Characteristics
Net Weight
Certification
Model 5167 – Storage Case
Physical Characteristics
Inside Dimensions (H x W x D)
Overall Dimensions (H x W x D)
Net Weight
16
Double acting cylinder
76 mm (3 in)
19 mm (0.75 in)
190 x 292 x 60 mm (7.5 x 11.5 x 2.375 in)
1.4 kg (3.1 lb)
NO (2), NC (2), 30 V – 10 A – DC, Resistive
81 x 114 x 115 mm (3.2 x 4.5 x 4.5 in)
8 parts
63.5 x 19 mm (2.5 x 0.75 in)
Momentary
Standard type integral hinged lever
SPDT, 12 V – 0.06 A – DC
Double acting cylinder
76 mm (3 in)
19 mm (0.75 in)
241 x 292 x 70 mm (9.5 x 11.5 x 2.75 in)
1.4 kg (3.1 lb)
276 kPa (40 psi), less than 3 l/min (0.1 SCFM)
2 (controllable)
83 x 229 x 216 mm (3.25 x 9 x 8.5 in)
2.2 kg (4.9 lb)
0.44 kg (15.6 oz)
5
432 mm (17 in)
3.2 mm (0.125 in)
152 mm/s (6 in/s)
DC stepper motor
200
gears and timing belts
338°
181°
198°
185°
360°
13.8 V – DC
4
12 V – DC
0.6 A
4
0-5 V – DC, TTL compatible
0.02 A
two-finger gripper
9.3 kg (20.6 lb)
CE Compliant
241 x 673 x 381 mm (9.5 x 26.5 x 15 in)
254 x 699 x 406 mm (10 x 27.5 x 16 in)
6.4 kg (14.2 lb)
Model 5173 – RoboCIM 5150 Software
Personal Computer Requirements
Processor
Operating System
Memory
3D Graphic Card
Model 5174 – Robotics System Software Development Kit
Personal Computer Requirements
Model 5210 – Belt Conveyor
Motor
Type
Encoder
Inputs
Number
Type
Switch (movable)
Type
Actuator
Contacts
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 5259-C – Connection Leads
Electrical Leads
Quantity and Color, Length
Connectors
Current Rating
Model 5924 – Signal Tower
Lights
Inputs (6)
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 6309 – Storage/Work Surface
Physical Characteristics
Dimensions (H x W x D)
Net Weight
Model 6360 – DC Power Supply
Power Requirement
Output
Short-Circuit Protection
Physical Characteristics
Model 39035 – Spacer
Physical Characteristics
Model 39303 – Acoustic Alarm
Physical Characteristics
Model 96474 – Square Part (Plexiglass)
Physical Characteristics
Model 96942 – Square Part (Wax)
Physical Characteristics
DC servo motor with closed loop control
Optical
3 (to control motor operation, engage/disengage motors, direction)
TTL input
Momentary
Wireform
SPDT, 12 V – 0.06 A – DC
165 x 1892 x 279 mm (6.5 x 74.5 x 11 in)
14.4 kg (31.8 lb)
One black, five red, 3 white; 60 cm (24 in)
2-mm banana plugs
10 A
3 (green, red, and yellow)
24 V dc
368 x 170 x 170 mm (14.5 x 6.7 x 6.7 in)
1.3 kg (2.8 lb)
Dimensions (H x W x D)
Net Weight
Dimensions (H x W x D)
Net Weight
12.3 x 120 x 120 mm (0.5 x 4.7 x 4.7 in)
49 g (1.7 oz)
Dimensions (H x W x D)
Net Weight
20 x 120 x 70 mm (0.8 x 4.7 x 2.8 in)
169 g (6 oz)
Dimensions (Length x Diameter)
Net Weight
Model 46604 – Work Surface
Physical Characteristics
Microsoft Windows operating system
30 x 590 x 590 mm (1 x 23 x 23 in)
5 kg (11 lb)
120 V – 60 Hz
220 V – 50 Hz
240 V – 50 Hz
1.25 A
0.75 A
24 V – 2.4 A – DC
Automatic current/limit foldback
105 x 135 x 220 mm (4.1 x 5.3 x 8.7 in)
3.6 kg (7.9 lb)
Current
Model 38685 – Location Tray
Physical Characteristics
Pentium IV
Microsoft Windows XP or later
128 MB RAM
Open GL compatible highly recommended
73 x 68 mm (2.9 x 2.7 in)
103 g (3.6 oz)
Dimensions (H x W x D)
Net Weight
41 x 883 x 584 mm (1.6 x 34.75 x 23 in)
7.3 kg (16.2 lb)
Dimensions (H x W x D)
Net Weight
13 x 51 x 51 mm (0.5 x 2 x 2 in)
39 g (1.4 oz)
Dimensions (H x W x D)
Net Weight
13 x 51 x 51 mm (0.5 x 2 x 2 in)
31 g (1.1 oz)
17
ROBOT SYSTEM
SERIES 5150
ORDERING NUMBERS
120 V – 60 Hz
220 V – 50 Hz
FRENCH
SPANISH
ENGLISH
FRENCH
SPANISH
ENGLISH
5102-10
5105-00
5106-00
5111-00
5113-10
5118-00
5119-00
5121-00
5122-10
5122-A0
5125-00
5142-10
5142-A0
5149-00
5150-10
5150-20
5150-A0
5167-00
5210-00
5259-C0
5924-00
6309-00
6360-00
6410-C0
38685-00
39035-00
39303-00
39411-00
39411-10
39411-E0
39376-E0
46601-10
46601-20
46601-30
46604-00
96474-00
96942-00
5102-10
5105-00
5106-00
5111-00
5113-10
5118-01
5119-00
5121-00
5122-10
5122-A1
5125-00
5142-10
5142-A1
5149-01
5150-11
5150-21
5150-A0
5167-00
5210-01
5259-C0
5924-00
6309-00
6360-00
6410-C0
38685-00
39035-00
39303-00
39411-01
39411-11
39411-E1
39376-E1
46601-10
46601-20
46601-30
46604-00
96474-00
96942-00
5102-10
5105-00
5106-00
5111-00
5113-10
5118-02
5119-00
5121-00
5122-10
5122-A2
5125-00
5142-10
5142-A2
5149-02
5150-12
5150-22
5150-A0
5167-00
5210-02
5259-C0
5924-00
6309-00
6360-00
6410-C0
38685-00
39035-00
39303-00
39411-02
39411-12
39411-E2
39376-E2
46601-10
46601-20
46601-30
46604-00
96474-00
96942-00
5102-10
5105-05
5106-00
5111-00
5113-10
5118-05
5119-00
5121-00
5122-10
5122-A5
5125-00
5142-10
5142-A5
5149-05
5150-15
5150-25
5150-A0
5167-00
5210-05
5259-C0
5924-00
6309-00
6360-05
6410-C5
38685-00
39035-00
39303-00
39411-00
39411-10
39411-E0
39376-E0
46601-10
46601-20
46601-30
46604-00
96474-00
96942-00
5102-10
5105-05
5106-00
5111-00
5113-10
5118-06
5119-00
5121-00
5122-10
5122-A6
5125-00
5142-10
5142-A6
5149-06
5150-16
5150-26
5150-A0
5167-00
5210-06
5259-C0
5924-00
6309-00
6360-05
6410-C5
38685-00
39035-00
39303-00
39411-01
39411-11
39411-E1
39376-E1
46601-10
46601-20
46601-30
46604-00
96474-00
96942-00
5102-10
5105-05
5106-00
5111-00
5113-10
5118-07
5119-00
5121-00
5122-10
5122-A7
5125-00
5142-10
5142-A7
5149-07
5150-17
5150-27
5150-A0
5167-00
5210-07
5259-C0
5924-00
6309-00
6360-05
6410-C5
38685-00
39035-00
39303-00
39411-02
39411-12
39411-E2
39376-E2
46601-10
46601-20
46601-30
46604-00
96474-00
96942-00
5102-10
5105-0A
5106-00
5111-00
5113-10
5118-0A
5119-00
5121-00
5122-10
5122-AA
5125-00
5142-10
5142-AA
5149-0A
5150-1A
5150-2A
5150-A0
5167-00
5210-0A
5259-C0
5924-00
6309-00
6360-0A
6410-C5
38685-00
39035-00
39303-00
39411-00
39411-10
394E1-10
39376-E0
46601-10
46601-20
46601-30
46604-00
96474-00
96942-00
Table 1. Equipment Ordering Numbers
18
240 V – 50 Hz
ENGLISH
120 V – 60 Hz
220 V – 50 Hz
NUMBER OF
USERS
ENGLISH
FRENCH
1
5
10
15
20
25
30
35
40
1
5173-00
5173-A0
5173-B0
5173-C0
5173-D0
5173-E0
5173-F0
5173-G0
5173-H0
5174-00
5173-01
5173-A1
5173-B1
5173-C1
5173-D1
5173-E1
5173-F1
5173-G1
5173-H1
TBE
5173-02
5173-A2
5173-B2
5173-C2
5173-D2
5173-E2
5173-F2
5173-G2
5173-H2
TBE
1
5
10
15
20
25
30
35
1
5173-P0
5173-Q0
5173-R0
5173-S0
5173-T0
5173-U0
5173-V0
5173-W0
5174-00
5173-P1
5173-Q1
5173-R1
5173-S1
5173-T1
5173-U1
5173-V1
5173-W1
TBE
5173-P2
5173-Q2
5173-R2
5173-S2
5173-T2
5173-U2
5173-V2
5173-W2
TBE
SPANISH
ENGLISH
240 V – 50 Hz
FRENCH
SPANISH
ENGLISH
5173-01
5173-A1
5173-B1
5173-C1
5173-D1
5173-E1
5173-F1
5173-G1
5173-H1
TBE
5173-02
5173-A2
5173-B2
5173-C2
5173-D2
5173-E2
5173-F2
5173-G2
5173-H2
TBE
5173-00
5173-A0
5173-B0
5173-C0
5173-D0
5173-E0
5173-F0
5173-G0
5173-H0
5174-00
5173-P1
5173-Q1
5173-R1
5173-S1
5173-T1
5173-U1
5173-V1
5173-W1
TBE
5173-P2
5173-Q2
5173-R2
5173-S2
5173-T2
5173-U2
5173-V2
5173-W2
TBE
5173-P0
5173-Q0
5173-R0
5173-S0
5173-T0
5173-U0
5173-V0
5173-W0
5174-00
Domestic Market (US and Canada)
5173-00
5173-A0
5173-B0
5173-C0
5173-D0
5173-E0
5173-F0
5173-G0
5173-H0
5174-00
International Market
5173-P0
5173-Q0
5173-R0
5173-S0
5173-T0
5173-U0
5173-V0
5173-W0
5174-00
Table 2. Software Ordering Numbers
19
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names used herein as trademarks or registered trademarks of their respective holders. © Lab-Volt 2013. All rights reserved.
94077-00 Rev. A4